Trimble Inc.

Trimble Navigation Limited

Gleb Aleksandrovich Zyryanov

Dmitry Vladimirovich Kozlov

Alexey D Boriskin

Shawn D Weisenburger

Dmitry G Ivanov

Adam Clare

Dmitry Georgievich Kozlov

Alexander Vladimirovich Osipov

Evgeny Sunitsky

Dmitry V Ivanov

Ilya Khazanov

Dmitry Gennadievich Kozlov

Greg Wallace

Igor Artushkin

A receiver system for determining coordinates of a location can include two GNSS receiver antennas positioned in fixed relation to each other and separated by a short baseline. Signals received from the two receiver antennas can be processed to define a 'virtual' antenna located at the midpoint between the two receiver antennas. For instance, a location can be determined for each receiver antenna using GNSS-based techniques, and the locations of the two antennas can be used to determine a location of the virtual antenna. As another example, GNSS observables from the two antennas can be combined to provide a set of “virtual” observables for the virtual antenna, and GNSS-based techniques can be applied to the virtual observables to determine a location of the virtual antenna.

GNSS location determination using a virtual antenna

Some embodiments of the invention relate to methods carried out by an NSS receiver and/or a processing entity capable of receiving data therefrom, for estimating parameters derived from NSS signals. An estimator is operated, which uses state variables and computes the values thereof based on delta observables computed for a previous epoch. Previous residuals are obtained from the estimator, each previous residual being associated with a delta observable computed for the previous epoch. The previous residuals are then adjusted using a back-residual coefficient. Delta observables for a current epoch are computed. For each of at least some of the delta observables, the delta observable computed for the current epoch is corrected using the adjusted previous residual associated with the delta observable. The estimator is then operated for the current epoch at least based on the corrected delta observables.

Methods and systems for processing time-differenced navigation satellite system observables

Some embodiments of the invention relate to methods carried out by an NSS receiver and/or a processing entity capable of receiving data therefrom, for estimating parameters derived from NSS signals and detecting outliers in NSS observables. Input data comprising signals observed by the receiver is received. An estimator is operated, which uses state variables and computes the values thereof based on the input data. An outlier detection procedure comprises: computing a first statistic based on data outputted from the estimator and associated with a set of observables; identifying an observable candidate for removal; computing a second statistic based on the data outputted from the estimator from which the data associated with the identified observable is removed; and determining whether the ratio of the first to the second statistic exceeds a threshold and, if so, removing the identified observable, having the estimator recompute its state variables and performing the outlier detection procedure again.

Methods and systems for handling outliers when using navigation satellite system observations

A Global Navigation Satellite System (GNSS) receiver for processing satellite signals with integer cross ambiguity resolution. The receiver includes an antenna assembly receiving signals from a set of GNSS satellites. The receiver includes a transceiver establishing a communication link with a spaced-apart GNSS receiver and receiving data from the spaced-apart GNSS receiver to make up a base station and rover pair performing DD techniques. The receiver includes a processor and a cross ambiguity fixing module provided by the processor executing code to generate an error correction. The receiver includes an estimator provided by the processor executing code to provide a geographical position solution by DD processing the data from the space-apart GNSS receiver and the signals from the set of GNSS satellites along with the error correction, which may provide a search space with more DD ambiguities or may address quarter or half cycle bias between receiver types.

GNSS receiver adapted to fix cross-GNSS DD ambiguity

A Global Navigation Satellite System (GNSS) receiver that includes a satellite signal generator generating signal data for a signal that is not being tracked by the receiver. The receiver includes a satellite signal generator running an algorithm to process first and second received signals to produce a software-synthesized satellite signal, and the generated signal data is used to correct bias or is communicated to a spaced-apart GNSS receiver or used for onboard positioning calculations. The satellite constellation may be the Galileo constellation, with the first and second signals being E5A and E5B signals tracked by the receiver and the generated third signal being an E5AltBOC signal. With a half-a-cycle bias resolution technique, the satellite signal generator generates synthetic E5AltBOC data of high quality. For a receiver, which physically tracks E5AltBOC, synthetic E5AltBOC may be used to monitor polarity of a physically tracked E5AltBOC and correct it if error is detected.

GNSS receiver adapted to produce, use, and communicate software-generated satellite signal data

Methods and apparatus are presented for determining a position of a GNSS rover antenna from observations collected at the antenna over multiple epochs from satellite signals of multiple GNSS, wherein the observation data of each GNSS has a distinct data format. The observation data of each GNSS are presented in a generic GNSS data format, which differs from the distinct data format of the GNSS, to obtain a set of generic data. A set of difference data is prepared representing differences between the converted observation data and the generic data. When at least four satellites are tracked, the generic data of the tracked satellites of multiple GNSS are used to compute a standalone antenna position. When at least five satellites are tracked, the generic data of the tracked satellites of multiple GNSS are used to compute a real-time kinematic antenna position.

GNSS signal processing methods and apparatus

A multiple content message (MCM) base apparatus configured to generate a composite base data stream is proposed. A multiple content message (MCM) rover apparatus configured to generate a set of fast frequency baseline data is proposed.

Multiple content message base-rover architecture

Methods and apparatus are presented for determining position a GNSS rover antenna from single-frequency observations of GNSS signals collected at the antenna over multiple epochs and from correction data for at least one of the epochs. Coded raw data prepared from the single-frequency observations in a binary format are obtained and decoded to obtain decoded raw data. The decoded raw data are used to construct multiple epochs of measurement data of time, range and phase. Correction data are obtained for at least one of the epochs. The measurement data are processed with the correction data in a realtime kinematic positioning engine to obtain a position estimate for each of a plurality of epochs.

Growing community of inventors

Moscow, Russia

Gleb Aleksandrovich Zyryanov